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ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28degree of freedom platform being developed for investigating complex handmanipulation behaviors. ADROIT derives its unique capabilities, necessary tosupport dynamic and dexterous manipulation, from a custom designedhigh-performance pneumatic actuation system for tendon-driven hands. The custompneumatic actuation system is fast, strong, low friction-stiction, compliantand is capable of actuating a shadow hand skeleton faster that humancapabilities -- at a unique combination of speed, force, and compliance thathas never been achieved before. In this paper, we develop models for thepneumatic muscles of ADROIT and perform a thorough investigation of the variousparameters that affect pressure dynamics in a pneumatic system such as,different cylinder types, leakage from valves and cylinders, valve deadzone,input pressure fluctuations etc to improve the model's accuracy.

Pneumatic Modelling for Adroit Manipulation Platform